Kinematic design of a humanoid robot wrist

In this paper, a new kinematic model of the human wrist is developed and co mpared to existing robot wrists. A detailed analysis of the motion of the i nvolved carpus bones indicates the position and orientation of the motion a xes. Approximations are made to approach a technical feasible model, on the one hand, but to preserve functional characteristics on the other hand. Fo r the mathematical description, screw theory and the product-of-exponential s method are applied. Characteristic parameters of the model are identified and quantitative values for a typical person proposed. Finally, similariti es between existing robot wrists and the model are discussed. (C) 2001 John Wiley & Sons, Inc.